Articulated machine employing stabilizers and steering interlock

ABSTRACT

A machine includes a front section having front wheels, a rear section having rear wheels, and a pivot that couples the front section to the rear section as well as a hydraulic steering circuit that moves the front section relative to the rear section about the pivot. The machine also includes a stabilizer and further includes a directional control valve that selectively depressurizes the hydraulic steering circuit according to a state of the stabilizer.

TECHNICAL FIELD

The present disclosure generally relates to work machines and, moreparticularly, relates to articulated machines employing stabilizers.

BACKGROUND

Many work machines used in the earth-moving, mining, construction, andagricultural industries use stabilizers to raise the wheels of themachine off the ground when performing an operation. Some of thesemachines are also articulated in that they include a forward sectionhaving front wheels pivotally connected to a rear section having rearwheels. Steering is accomplished by articulating the machine in themiddle between the front section and the rear section to change therelationship between the front wheels and the rear wheels.

One example of such a machine is a drill jumbo. A drill jumbo is aself-propelled drilling machine that is used to drill holes in a miningenvironment. While effective for mining operations, when the stabilizersare employed with such articulated machines, the steering capability ofthe machine remains active. As the machine has enough steering force tosteer the machine while on stabilizers, this can cause damage to themachine and/or stabilizers in such a state.

U.S. Pat. No. 3,744,574 (the '574 patent) discloses an articulatedmachine with a rock drilling unit mounted on a front section of thearticulated machine. A ground engaging stabilizer holds the drillingunit and contacts the ground when the drilling unit is operated. Becausethe drilling unit is mounted to the ground engaging stabilizer,vibration and shock from the drilling unit are transmitted to the groundrather than through the machine body. The '574 patent uses the groundengaging stabilizer as a blade to remove rubble and thereby encouragesmovement of the machine while the stabilizer is engaged. A machine inaccordance with the '574 patent necessarily steers the machine while theground engaging stabilizer is in contact with the ground. Earth built upduring use of the blade can damage the drill if the drill is fully orpartially deployed.

SUMMARY OF THE DISCLOSURE

In accordance with one aspect of the disclosure, a machine includes afront section having a pair of front wheels, a rear section having apair of rear wheels, a pivot that couples the front section to the rearsection, and a hydraulic steering circuit that moves the front sectionrelative to the rear section about the pivot. The machine also includesa stabilizer and a directional control valve that selectivelydepressurizes the hydraulic steering circuit according to a state of thestabilizer.

In accordance with another aspect of the disclosure, a steeringinterlock system in a machine includes a pump that supplies pressurizedhydraulic fluid, a hydraulic stabilizer circuit and a hydraulic steeringcircuit. The hydraulic stabilizer circuit includes a stabilizer cylindercoupled to the pump and a stabilizer coupled to the stabilizer cylinder,the stabilizer operated between a stowed state and a unstowed state bythe stabilizer cylinder. The hydraulic steering circuit includes asteering cylinder coupled to the pump, the steering cylinder configuredto cause the machine to change a steering angle, and a directionalcontrol valve coupled between the pump and the steering cylinder, thedirectional control valve configured to selectively depressurize thehydraulic steering circuit responsive to the stabilizer being in thestowed state or the unstowed state.

In yet another aspect of the disclosure, a method of operating a machinethat includes a stabilizer includes determining a state of thestabilizer to be in one of a stowed state and a unstowed state, enablinga steering system of the machine when the stabilizer system is in thestowed state, and disabling the steering system of the machine when thestabilizer system is in the unstowed state.

These and other aspects and features will be more readily understoodwhen reading the following detailed description and taken in conjunctionwith the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a side view of a machine in accordance with the currentdisclosure;

FIG. 2 is a perspective view of the machine of FIG. 1;

FIG. 3 is a schematic illustration of elements for providing a steeringinterlock for the machine of FIG. 1 in a first operating state;

FIG. 4 is a schematic illustration of elements for providing a steeringinterlock for the machine of FIG. 1 in another operating state;

FIG. 5 is a schematic illustration of elements for providing analternate embodiment of a steering interlock for the machine of FIG. 1;

FIG. 6 is schematic illustration of elements for providing an yetanother alternate embodiment of a steering interlock for the machine ofFIG. 1; and

FIG. 7 is a flowchart for providing a steering interlock to the machineof FIG. 1 in accordance with the current disclosure.

DETAILED DESCRIPTION

Referring now to the drawings, and with specific reference to FIGS. 1and 2, a machine constructed in accordance with the present disclosureis generally referred to be reference number 100. While the machine 100depicted in FIG. 1 is a self-propelled drill sometimes referred to as adrill jumbo suitable for use in mining operations it is to be understoodthat the teachings of the present disclosure are not limited to suchdrill jumbos, but can be used in connection with many other machines asdescribed below. The machine 100 includes a front section 102 with frontwheels 104 and a rear section 108 with rear wheels 110. The frontsection 102 may include an operator station 111, while the rear section108 may include an engine or other prime mover 112. The machine 100 mayalso include an implement 113 extending from the front section 102. Inthis exemplary embodiment, the implement 113 is a drill that may be usedfor drilling holes on any angle from vertical to horizontal, but ofcourse other implements or other types of articulated machines arepossible.

The machine 100 may be articulated, that is, the front section 102 iscoupled to the rear section 108 at a pivot 114. When the machine 100 isbeing moved, or trammed, steering is accomplished by changing a steeringangle 117 between the front section 102 and the rear section 108 using asteering cylinder 116. A stabilizer system 118 uses a front stabilizer120 and a rear stabilizer 122 to engage the ground 124 for leveling andstability during drill operations. In one embodiment, the frontstabilizer 120 and the rear stabilizer 122 may be mounted to outriggers(not depicted) that extend beyond the front wheels 104 and the rearwheels 110, respectively, to provide a more stable base when theimplement 113 is in use. Corresponding stabilizers would also typicallybe disposed on the side of the machine 100 not depicted in FIG. 1.

Another view of the machine 100 is shown in FIG. 2. This frontperspective view shows another front stabilizer 120 as well as astabilizer cylinder 126 coupled to each respective front stabilizer 120.As shown in FIG. 1 and FIG. 2, the front stabilizer 120 and the rearstabilizer 122 are fully retracted and in a stowed state 128. For thepurpose of the discussion that follows, if the front stabilizer 120, therear stabilizer 122, or both, are either partially or fully deployed,they are in a unstowed state 130 (illustrated below in FIG. 4). When thefront stabilizer 120, the rear stabilizer 122, or both, are fullydeployed and in contact with the ground 124 that is merely one exampleof the unstowed state 130. Moreover, as alluded to above, while themachine 100 in this exemplary embodiment is a drill jumbo, thetechniques described herein may be applicable to other machines that usestabilizers and which have steering controls that may cause a chassis ofthe machine to change positions while the stabilizers are deployed, suchas a backhoe loader, excavator, and the like.

With prior art approaches, a problem may occur when the machine 100 haseither or both the front stabilizer 120 and the rear stabilizer 122deployed and in contact with the ground 124. In this situation, if anoperator issues a steering command, the machine 100 will attempt tochange its steering angle 117 by rotating the front section 102 relativeto the rear section 108 about the pivot 114. Because virtually the fullweight of the machine 100 may be carried between the front stabilizer120 and the rear stabilizer 122 (and their opposite side counterparts)the twisting motion of the machine 100 about the pivot 114 can damagethe front stabilizer 120, the rear stabilizer 122, or both.

In order to mitigate such damage, the present disclosure employs asteering interlock system 131. The steering interlock system 131prevents motion in the steering cylinder 116 when either or both of thefront stabilizer 120 or rear stabilizer 122 are in a unstowed state 130.However, in order to give an operator more control to allow tramming,for example, for a short move, an override may be provided that allowssteering control even when in the unstowed state 130, as discussed inmore detail below.

FIGS. 3 and 4 schematically illustrate relevant elements of a steeringinterlock system 131 for the machine 100 in different states ofoperation. Starting with FIG. 3, an exemplary configuration thatprovides for normal steering is depicted. A pump 132 provides hydraulicfluid 134 under pressure to a hydraulic steering circuit 136 and to ahydraulic stabilizer circuit 138. The hydraulic steering circuit 136includes a steering control 140 and the steering cylinder 116. In oneembodiment, the hydraulic steering circuit 136 also may include adirectional control valve 141 that may include a first valve 142 and asecond valve 144 that are discussed in more detail below. Thisconfiguration of directional control valve 141 may be known as a dualstage electrohydraulic directional valve.

The hydraulic stabilizer circuit 138 may also include a stabilizercontrol 146 that manages extension and retraction of the stabilizercylinder 126 in order to cause, for example, a stabilizer 148 to engagethe ground 124 or retract to the stowed state 128. The stabilizer 148 isdepicted in FIG. 3 in the stowed state 128. For simplicity ofillustration, the stabilizer 148 is the only stabilizer shown. Thestabilizer 148 is representative of either front stabilizer 120 oreither rear stabilizer 122. In operation, and as defined herein, if anystabilizer in the machine 100 is partially or fully deployed, anunstowed state 130 exists. The hydraulic stabilizer circuit 138 may alsoinclude a stabilizer sensor 150 that is used to determine if thestabilizer 148 is in a stowed state 128 or a unstowed state 130. In thisembodiment, the stabilizer sensor 150 is a hydraulic pressure sensor152, but other types of sensors are possible.

The steering interlock system 131 may further include a controller 154may receive data from the stabilizer sensor 150 in order to determinewhether the stabilizer 148 is in the stowed state 128 or the unstowedstate 130. An override circuit 156 may be used in the steering interlocksystem 131 to allow steering control even when the controller 154 sensesa unstowed state 130 in the stabilizer 148. The controller 154 may be aprocessor-based electronic controller with analog-to-digital inputs anddigital-to-analog outputs or may be a hydraulic system using pressureactivated controls. In another embodiment, the controller 154 may bepart of a mixed electrohydraulic system that uses a combination ofelectrical and hydraulic pressure sensors as well as hydraulic andelectrohydraulic valves. In one embodiment, the controller 154 may bepart of an engine controller, body controller, implement controller, orother existing controller.

In operation, when the stabilizer 148 is in the stowed state 128, thestabilizer sensor 150 reports data to the controller 154 that may beused to determine that the stabilizer 148 is in the stowed state 128.The controller 154 sends a signal to the first valve 142 that places thefirst valve 142 in the default, or open, state, as shown in FIG. 3. Inan embodiment where the stabilizer sensor 150 is a hydraulic pressuresensor 152, the controller 154 may observe a pressure spike in thehydraulic stabilizer circuit 138 that indicates the stabilizer cylinder126 is in a fully retracted position. The override circuit 156 isdiscussed more below and is assumed in this illustration to be cleared,that is, inactive. A tank 158 provides unpressurized storage for thehydraulic fluid 134 used in the machine 100.

With the first valve 142 in the default state, hydraulic fluid 134 frompump 132 is blocked from reaching the second valve 144 and any hydraulicfluid 134 under pressure acting on the second valve 144 is drained totank 158 so that the second valve 144 is in a default position. With thesecond valve 144 in such a default position, hydraulic fluid 134 fromthe pump 132 flows to the steering control 140 to adjust the steeringcylinder 116 so that the machine 100 may be steered by changing thesteering angle 117. The first valve 142 is in a default state so that ina failsafe situation, where a failure may occur in or around thestabilizer sensor 150 or the controller 154, steering remains enabled.In this embodiment, the second valve 144 that is operated hydraulicallyallows the first valve 142 to be smaller than if an electrohydraulicvalve used between the pump 132 and steering control 140.

An indicator 160 may be used to alert an operator to a state of thestabilizer 148 as stowed or unstowed, which in turn indicates the stateof the hydraulic steering circuit 136, such as steering enabled orsteering disabled, respectively. The indicator 160 may be a separatelight, an audible indicator, a dashboard light, a field on an operatordisplay, or some combination of these. In one embodiment, the indicator160 may indicate whether steering is enabled or disabled in addition toor instead of indicating the state of the stabilizer 148.

FIG. 4 shows the embodiment of FIG. 3 with the stabilizer 148 in theunstowed state 130. In such an embodiment, the controller 154determines, via the stabilizer sensor 150, that the stabilizer 148 is inthe unstowed state 130 and activates the first valve 142 to the stateshown in FIG. 4. Hydraulic fluid 134 flows from the pump 132 through thefirst valve 142 and moves the second valve 144 so that the pump isdisconnected from the steering control 140 and the hydraulic steeringcircuit 136 is depressurized and drained to the tank 158. In this state,any attempt to steer the machine 100 will be ineffective. The indicator160 may be de-activated so that the operator is aware that thestabilizer 148 is in the unstowed state 130, which in turn indicatessteering is disabled.

An alternate embodiment of a steering interlock system 161 isillustrated in FIG. 5. In this embodiment, the controller 154 isdirectly coupled to a directional control valve 162, or morespecifically, a direct acting directional control valve, such as anelectrohydraulic valve. In this embodiment, even though the directionalcontrol valve 162 may be relatively large compared to the first valve142 of FIGS. 3 and 4, the use of a single valve reduces the overallparts count of the machine 100 and may be simpler for servicing. Also inthis embodiment, a sensor 164 is used as the stabilizer sensor 150. Thesensor 164 may use a switch or pressure sensor (not depicted) todetermine when either the stabilizer cylinder 126 or the stabilizer 148itself is in the stowed state 128. In this embodiment, the controller154 reads the state of the sensor 164 and uses that to determine whetherthe stabilizer 148 is in a stowed state 128 or the unstowed state 130.The controller 154 then sends a signal that activates the directionalcontrol valve 162 to depressurize the hydraulic steering circuit 136 byconnecting it to the tank 158.

FIG. 6 depicts yet another alternative embodiment of a steeringinterlock system 163 similar to the embodiment of FIG. 5. In thisembodiment, an optical sensor 166 is used as the stabilizer sensor 150.The optical sensor 166 may be sealed in the stabilizer 148 to protectthe optical sensor 166 from dirt or grime that would potentially impedeits performance. In this embodiment, the controller 154 uses an outputof the optical sensor 166 to determine whether the stabilizer 148 isfully retracted and in the stowed state 128. Although this embodimentalso uses the directional control valve 162 illustrated in FIG. 5, itshould be noted that the choice of stabilizer sensor 150 is independentof the hydraulic valve scheme illustrated in FIGS. 3 and 4 or FIGS. 5and 6. Any type of stabilizer sensor 150 is suitable for operation witheither hydraulic valve scheme.

INDUSTRIAL APPLICABILITY

In general, the present disclosure may find applicability in manyindustries, including but not limited to earthmoving, construction,agriculture, transportation, forestry, and marine industries and mayinclude machines including, but not limited to a drill jumbo, excavatorsand other equipment that uses stabilizers during operation of animplement.

A flowchart 200 for implementing a steering interlock is illustrated inFIG. 7. After the controller 154 determines that a key switch is on atblock 202, execution continues at block 204. A determination is made,for example, at the controller 154, whether the stabilizer 148 is in thestowed state 128. If this is true, execution follows the “yes” branch toblock 206 and the hydraulic steering circuit 136 is enabled as discussedabove. If, at block 204, the controller 154 determines stabilizer 148 isin the unstowed state 130, the “no” branch is taken to block 208.

At block 208, a determination is made as to whether an overridecondition is set. In one embodiment, the override circuit 156 mayinclude a switch (not depicted) set by an operator to allow tramming ofthe machine 100 even though the stabilizer 148 is in the unstowed state130. The override circuit 156 may be read by the controller 154 and ifthe override set, or active, the “yes” branch from block 208 may betaken to block 206 and the hydraulic steering circuit 136 may beenabled. If, at block 208, the override is cleared, or inactive, the“no” branch may be taken from block 208 to block 210. Steering may bedisabled at block 210 by depressurizing the hydraulic steering circuit136 using the second valve 144 for the embodiment of FIG. 3 and thedirectional control valve 162 for the embodiments of FIGS. 5 and 6.

At block 212, a test may be conducted to determine if the hydraulicsteering circuit 136 has been depressurized. This may be accomplishedusing a pressure sensor (not depicted) to determine whether pressure inthe hydraulic steering circuit 136 is in an operating range. In oneembodiment, the pressure in the hydraulic steering circuit 136 should bebelow 800 kpa after five seconds from when steering was disabled atblock 210, for example. If, at block 212, the controller 154 determinesthat the steering is not disabled, the “no” branch may be followed toblock 214 and an alarm may be set to notify an operator that theexpected operating state is not active and that the operator shouldavoid operating a steering control and should consider service for themachine 100. If, at block 212, the disabled test passes, the “yes”branch may be taken from block 212 to block 216 where the indicator 160is deactivated.

Among other things, the ability to disable steering for a machine 100protects the machine 100 from damage that may be caused by inadvertentoperation of conflicting hydraulic systems. In this case, damage to astabilizer 148 may be avoided by disabling rotation of an articulatedmachine when the stabilizer 148 is deployed. For those circumstanceswhen fully retracting the stabilizer 148 may be troublesome ortime-consuming and an operator determines that such an action is notrequired, the operator is given the ability to set an override so thatmachine 100 may be trammed even though the stabilizer 148 not be fullyretracted. This combination of features provides a level of safety forthe machine 100 to prevent inadvertent damage while still offering theflexibility to move the machine 100 efficiently when required.

What is claimed is:
 1. A machine comprising: a front section havingfront wheels; a rear section having rear wheels; a pivot that couplesthe front section to the rear section; a hydraulic steering circuit thatmoves the front section relative to the rear section about the pivot; astabilizer; and a directional control valve that selectivelydepressurizes the hydraulic steering circuit according to a state of thestabilizer.
 2. The machine of claim 1, wherein the stabilizer operatesbetween a stowed state and an unstowed state, wherein the directionalcontrol valve depressurizes the hydraulic steering circuit when thestabilizer is in the unstowed state.
 3. The machine of claim 1, whereinthe stabilizer operates between a stowed state and a unstowed state, themachine further comprising an override circuit that clears an overridecondition, wherein the directional control valve depressurizes thehydraulic steering circuit only when the override condition is clear andthe stabilizer is in the unstowed state.
 4. The machine of claim 1,wherein the stabilizer is fully retracted in a stowed state and notfully retracted in a unstowed state, wherein the machine furthercomprises a sensor that provides data about a position of the stabilizerbeing in the stowed state or the unstowed state.
 5. The machine of claim4, further comprising a controller coupled to the sensor and thedirectional control valve, wherein the controller receives the data fromthe sensor to determine the state of the stabilizer and selectivelydepressurizes the hydraulic steering circuit by activating thedirectional control valve according to the state of the stabilizer. 6.The machine of claim 5, further comprising a hydraulic stabilizercircuit, wherein the sensor is a hydraulic pressure sensor configured toreport a pressure spike associated with the stabilizer being fullyretracted.
 7. The machine of claim 5, wherein the sensor is one of apressure sensor and an optical sensor that is configured to report whenthe stabilizer is fully retracted.
 8. The machine of claim 5, furthercomprising an override circuit coupled to the controller, the overridecircuit used to clear or set an override condition, wherein thecontroller activates the directional control valve to depressurize thehydraulic steering circuit only when the override condition is clear andthe stabilizer is in the unstowed state.
 9. A steering interlock systemin a machine comprising: a pump that supplies pressurized hydraulicfluid; a hydraulic stabilizer circuit including: a stabilizer cylindercoupled to the pump; and a stabilizer coupled to the stabilizercylinder, the stabilizer operated between a stowed state and a unstowedstate by the stabilizer cylinder; and a hydraulic steering circuitincluding: a steering cylinder coupled to the pump, the steeringcylinder configured to cause the machine to change a steering angle; anda directional control valve coupled between the pump and the steeringcylinder, the directional control valve configured to selectivelydepressurize the hydraulic steering circuit responsive to the stabilizerbeing in the stowed state or the unstowed state.
 10. The steeringinterlock system of claim 9, wherein the directional control valveselectively depressurizes the hydraulic steering circuit when thestabilizer is in the unstowed state.
 11. The steering interlock systemof claim 10, further comprising a sensor coupled to the hydraulicstabilizer circuit, the sensor providing data corresponding to thestabilizer being in the unstowed state.
 12. The steering interlocksystem of claim 9, further comprising an override circuit, the overridecircuit causing the directional control valve to selectively maintainpressure in the hydraulic steering circuit when the override circuit isactive.
 13. The steering interlock system of claim 12, furthercomprising a controller coupled to the override circuit, the controllerreceiving a signal from the override circuit that causes the controllerto selectively maintain pressure in the hydraulic steering circuit. 14.A method of operating an machine having a stabilizer, the methodcomprising: determining a state of the stabilizer to be in one of astowed state and an unstowed state; enabling a hydraulic steeringcircuit of the machine when the stabilizer is in the stowed state; anddisabling the hydraulic steering circuit of the machine when thestabilizer is in the unstowed state.
 15. The method of claim 14, whereindetermining the state of the stabilizer to be in the stowed statecomprises determining that the stabilizer is in a fully retractedposition.
 16. The method of claim 14, wherein determining the stabilizerto be in the unstowed state comprises determining that the stabilizer isin any position other than a fully retracted position.
 17. The method ofclaim 15, wherein determining the stabilizer is in the fully retractedposition comprises receiving data from a sensor coupled to thestabilizer.
 18. The method of claim 14, wherein enabling the hydraulicsteering circuit comprises determining a state of an override circuit.19. The method of claim 14, wherein disabling the hydraulic steeringcircuit of the machine comprises activating a directional control valveto depressurize the hydraulic steering circuit.
 20. The method of claim19, wherein activating the directional control valve to depressurize thehydraulic steering circuit comprises providing a signal from acontroller that causes the directional control valve to depressurize thehydraulic steering circuit.